It is a difficult and important project to coordinate active front steering (AFS) and direct yaw moment control (DYC), which has great potential to improve vehicle dynamic stability. Moreover, the balance between driver's operation and advanced technologies' intervention is a critical problem. This paper proposes a human-machine-cooperative-driving controller (HMCDC) with a hierarchical structure for vehicle dynamic stability and it consists of a supervisor, an upper coordination layer, and two lower layers (AFS and DYC). The range of AFS additional angle is constrained, with consideration of the influence of AFS on drivers' feeling. First, in the supervisor, a nonlinear vehicle model was utilized to predict vehicle states, and the reference yaw rate, and side slip angle values were calculated. Then, the upper coordination layer decides the control object and control mode. At last, DYC and AFS calculate brake pressures and the range of active steering angle, respectively. The proposed HMCDC is evaluated by co-simulation of CarSim and MATLAB. Results show that the proposed controller could improve vehicle dynamic stability effectively for the premise of ensuring the driver's intention.

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